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[PER-170] augmenting calibration positions #191

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Merged
khughes-bdai merged 2 commits into from
Jan 16, 2026
Merged

[PER-170] augmenting calibration positions #191

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dd29f94
augmenting calibration positions to include moving along width of the…
lgalup-bdai Jan 14, 2026
908d57a
Merge branch 'main' into leg/augmenting_calib_positions
lgalup-bdai Jan 15, 2026
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16 changes: 15 additions & 1 deletion spot_wrapper/calibration/calibrate_spot_hand_camera_cli.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,8 @@ def spot_main() -> None:
images, poses = get_multiple_perspective_camera_calibration_dataset(
auto_cam_cal_robot=in_hand_bot,
max_num_images=args.max_num_images,
distances=np.arange(*args.dist_from_board_viewpoint_range),
distances_z=np.arange(*args.dist_from_board_viewpoint_range),
distances_x=np.arange(*args.dist_along_board_width),
x_axis_rots=np.arange(*args.x_axis_rot_viewpoint_range),
y_axis_rots=np.arange(*args.y_axis_rot_viewpoint_range),
z_axis_rots=np.arange(*args.z_axis_rot_viewpoint_range),
Expand Down Expand Up @@ -131,6 +132,19 @@ def calibrate_robot_cli(parser: argparse.ArgumentParser = None) -> argparse.Argu
"These are used to sample viewpoints for automatic collection. "
),
)
parser.add_argument(
"--dist_along_board_width",
"-dabw",
nargs="+",
type=float,
dest="dist_along_board_width",
default=[-0.3, 0.4, 0.2],
help=(
"What distances to conduct calibrations at relative to the board. (along the board width) "
"Three value array arg defines the [Start, Stop), step. for the viewpoint sweep. "
"These are used to sample viewpoints for automatic collection. "
),
)
group = parser.add_mutually_exclusive_group()
group.add_argument(
"--degrees",
Expand Down
18 changes: 12 additions & 6 deletions spot_wrapper/calibration/calibration_util.py
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Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,8 @@ def create_charuco_board(
def get_multiple_perspective_camera_calibration_dataset(
auto_cam_cal_robot: AutomaticCameraCalibrationRobot,
max_num_images: int = 10000,
distances: Optional[np.ndarray] = None,
distances_x: Optional[np.ndarray] = None,
distances_z: Optional[np.ndarray] = None,
x_axis_rots: Optional[np.ndarray] = None,
y_axis_rots: Optional[np.ndarray] = None,
z_axis_rots: Optional[np.ndarray] = None,
Expand Down Expand Up @@ -161,7 +162,8 @@ def get_multiple_perspective_camera_calibration_dataset(
viewpoints = get_relative_viewpoints_from_board_pose_and_param(
R_vision_to_target,
tvec_vision_to_target,
distances=distances,
distances_x=distances_x,
distances_z=distances_z,
x_axis_rots=x_axis_rots,
y_axis_rots=y_axis_rots,
z_axis_rots=z_axis_rots,
Expand Down Expand Up @@ -883,7 +885,8 @@ def convert_camera_t_viewpoint_to_origin_t_planning_frame(
def get_relative_viewpoints_from_board_pose_and_param(
R_board: np.ndarray,
tvec: np.ndarray,
distances: Optional[np.ndarray] = None,
distances_x: Optional[np.ndarray] = None,
distances_z: Optional[np.ndarray] = None,
x_axis_rots: Optional[np.ndarray] = None,
y_axis_rots: Optional[np.ndarray] = None,
z_axis_rots: Optional[np.ndarray] = None,
Expand Down Expand Up @@ -936,8 +939,10 @@ def get_relative_viewpoints_from_board_pose_and_param(
List[np.ndarray]: a list of 4x4 homogenous transforms to visit in the "principal" cameras
frame
"""
if distances is None:
distances = np.arange(0.5, 0.7, 0.1)
if distances_x is None:
distances_x = np.arange(0.3, 0.7, 0.1)
if distances_z is None:
distances_z = np.arange(-0.2, 0.3, 0.1)
if x_axis_rots is None:
x_axis_rots = np.arange(-20, 21, 5)
if y_axis_rots is None:
Expand All @@ -951,7 +956,8 @@ def get_relative_viewpoints_from_board_pose_and_param(
x_axis_rots = [radians(deg) for deg in x_axis_rots]
y_axis_rots = [radians(deg) for deg in y_axis_rots]
z_axis_rots = [radians(deg) for deg in z_axis_rots]
translations = [tvec + R_board[:, 2] * dist for dist in distances]

translations = [(tvec + R_board[:, 2] * dist + R_board[:, 0] * d2) for dist in distances_z for d2 in distances_x]
R_base = R_board @ R_align_board_frame_with_camera

def euler_to_rotation_matrix(roll: float, pitch: float, yaw: float) -> np.ndarray:
Expand Down